PSI - Issue 77

Francisco Castro et al. / Procedia Structural Integrity 77 (2026) 611–630 Francisco Castro/ Structural Integrity Procedia 00 (2026) 000 – 000

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lateral acceleration, roll center height position, vehicle’s mass and suspension parameters are analyzed to estimate the CoG height position. Both methods were validated experimentally using a prototype vehicle with different load conditions. The results from road tests were compared with reference values obtained from static measurements. For the longitudinal model an approximate error of 5 % was obtained, while for the roll-model a maximum estimation error of 8.5 % was presented . Despite the promising results, the models’ performance can be affected by factors such as measurement noise, tire and suspension non-linearities. The proposed models developed require standard sensors, such as IMUs, GPS and suspension travel sensors, making the methodology suitable for implementation in production vehicles equipped with basic instrumentation. As the method is time consuming due to the prior measurements needed, such as the weight and its distribution along the four wheels for the estimation of the CoG longitudinal and lateral position, and also the suspension stiffness, future developments should include obtaining all the variables of the developed model directly without the need of measuring it directly. Moreover, the in-motion results should also be extended to the measurements of the CoG position in the three directions. References Boada, B. L., Garcia-Pozuelo, D., Boada, M. J. L., & Diaz, V. (2016). A Constrained Dual Kalman Filter Based on pdf Truncation for Estimation of Vehicle Parameters and Road Bank Angle: Analysis and Experimental Validation. IEEE Transactions on Intelligent Transportation Systems, 18(4), 1006 – 1016. https://doi.org/10.1109/TITS.2016.2594217 Cairano, D., Berntorp, K., Chakrabarty, A., & Di Cairano, S. (2021). 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